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<h1>mindsensors-irdist.h</h1>  </div>
</div>
<div class="contents">
<a href="mindsensors-irdist_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/*!@addtogroup mindsensors</span>
<a name="l00002"></a>00002 <span class="comment"> * @{</span>
<a name="l00003"></a>00003 <span class="comment"> * @defgroup msdist DIST-Nx Sensor</span>
<a name="l00004"></a>00004 <span class="comment"> * DIST-Nx Sensor</span>
<a name="l00005"></a>00005 <span class="comment"> * @{</span>
<a name="l00006"></a>00006 <span class="comment"> */</span>
<a name="l00007"></a>00007 
<a name="l00008"></a>00008 <span class="comment">/*</span>
<a name="l00009"></a>00009 <span class="comment"> * $Id: mindsensors-irdist.h 133 2013-03-10 15:15:38Z xander $</span>
<a name="l00010"></a>00010 <span class="comment"> */</span>
<a name="l00011"></a>00011 
<a name="l00012"></a>00012 <span class="preprocessor">#ifndef __MSDIST_H__</span>
<a name="l00013"></a>00013 <span class="preprocessor"></span><span class="preprocessor">#define __MSDIST_H__</span>
<a name="l00014"></a>00014 <span class="preprocessor"></span><span class="comment">/** \file mindsensors-irdist.h</span>
<a name="l00015"></a>00015 <span class="comment"> * \brief Mindsensors DIST-Nx driver</span>
<a name="l00016"></a>00016 <span class="comment"> *</span>
<a name="l00017"></a>00017 <span class="comment"> * mindsensors-irdist.h provides an API for the Mindsensors DIST-Nx sensor</span>
<a name="l00018"></a>00018 <span class="comment"> *</span>
<a name="l00019"></a>00019 <span class="comment"> * Changelog:</span>
<a name="l00020"></a>00020 <span class="comment"> * - 0.1: Initial release</span>
<a name="l00021"></a>00021 <span class="comment"> * - 0.2: More comments</span>
<a name="l00022"></a>00022 <span class="comment"> * - 0.3: Sensor now auto-configures the type</span>
<a name="l00023"></a>00023 <span class="comment"> * - 0.4: Allow I2C address to be specified as an optional argument</span>
<a name="l00024"></a>00024 <span class="comment"> *</span>
<a name="l00025"></a>00025 <span class="comment"> * Credits:</span>
<a name="l00026"></a>00026 <span class="comment"> * - Big thanks to Mindsensors for providing me with the hardware necessary to write and test this.</span>
<a name="l00027"></a>00027 <span class="comment"> *</span>
<a name="l00028"></a>00028 <span class="comment"> * License: You may use this code as you wish, provided you give credit where its due.</span>
<a name="l00029"></a>00029 <span class="comment"> *</span>
<a name="l00030"></a>00030 <span class="comment"> * THIS CODE WILL ONLY WORK WITH ROBOTC VERSION 3.59 AND HIGHER. </span>
<a name="l00031"></a>00031 <span class="comment"></span>
<a name="l00032"></a>00032 <span class="comment"> * \author Xander Soldaat (xander_at_botbench.com)</span>
<a name="l00033"></a>00033 <span class="comment"> * \date 18 December 2010</span>
<a name="l00034"></a>00034 <span class="comment"> * \version 0.4</span>
<a name="l00035"></a>00035 <span class="comment"> * \example mindsensors-irdist-test1.c</span>
<a name="l00036"></a>00036 <span class="comment"> */</span>
<a name="l00037"></a>00037 
<a name="l00038"></a>00038 <span class="preprocessor">#pragma systemFile</span>
<a name="l00039"></a>00039 <span class="preprocessor"></span>
<a name="l00040"></a>00040 <span class="preprocessor">#ifndef __COMMON_H__</span>
<a name="l00041"></a>00041 <span class="preprocessor"></span><span class="preprocessor">#include &quot;<a class="code" href="common_8h.html" title="Commonly used functions used by drivers.">common.h</a>&quot;</span>
<a name="l00042"></a>00042 <span class="preprocessor">#endif</span>
<a name="l00043"></a>00043 <span class="preprocessor"></span>
<a name="l00044"></a><a class="code" href="group__msdist.html#gaa0acc67b016663695c6d56209744c2d4">00044</a> <span class="preprocessor">#define MSDIST_I2C_ADDR   0x02  </span><span class="comment">/*!&lt; MSDIST I2C device address */</span>
<a name="l00045"></a>00045 
<a name="l00046"></a><a class="code" href="group__msdist.html#gaab74285be52c673f8a64b257243b58b7">00046</a> <span class="preprocessor">#define MSDIST_CMD        0x41  </span><span class="comment">/*!&lt; MSDIST command register */</span>
<a name="l00047"></a>00047 
<a name="l00048"></a><a class="code" href="group__msdist.html#gac19548612f6169b70100da2615087d5d">00048</a> <span class="preprocessor">#define MSDIST_DIST       0x42  </span><span class="comment">/*!&lt; MSDIST distance data */</span>
<a name="l00049"></a><a class="code" href="group__msdist.html#ga27dc507c301c1c400b35edf6bdb8872e">00049</a> <span class="preprocessor">#define MSDIST_VOLT       0x44  </span><span class="comment">/*!&lt; MSDIST voltage data */</span>
<a name="l00050"></a><a class="code" href="group__msdist.html#ga68127178ad2bdd4cca035a30cd06cb65">00050</a> <span class="preprocessor">#define MSDIST_MOD_TYPE   0x50  </span><span class="comment">/*!&lt; MSDIST Sharp module type */</span>
<a name="l00051"></a><a class="code" href="group__msdist.html#ga767d8fd4072d1be7c2043af0f5199d1c">00051</a> <span class="preprocessor">#define MSDIST_MINDIST    0x52  </span><span class="comment">/*!&lt; MSDIST minimum distance in mm */</span>
<a name="l00052"></a><a class="code" href="group__msdist.html#ga325dab7fc0bd0c065d41941eea2e5e28">00052</a> <span class="preprocessor">#define MSDIST_MAXDIST    0x54  </span><span class="comment">/*!&lt; MSDIST maximum distance in mm */</span>
<a name="l00053"></a>00053 
<a name="l00054"></a><a class="code" href="group__msdist.html#gad60276924b4b8bc56d60480d33110051">00054</a> <span class="preprocessor">#define MSDIST_GP2D12     0x31  </span><span class="comment">/*!&lt; Sharp IR module GP2D12 */</span>
<a name="l00055"></a><a class="code" href="group__msdist.html#gaca985347e2d1ec1bce26af8ac8aff12d">00055</a> <span class="preprocessor">#define MSDIST_GP2D120    0x32  </span><span class="comment">/*!&lt; Sharp IR module GP2D120 */</span>
<a name="l00056"></a><a class="code" href="group__msdist.html#ga958340025be224b9008490ad04412591">00056</a> <span class="preprocessor">#define MSDIST_GP2YA21    0x33  </span><span class="comment">/*!&lt; Sharp IR module GP2YA21 */</span>
<a name="l00057"></a><a class="code" href="group__msdist.html#ga6660666763ce1ed208cd5dacafea1fab">00057</a> <span class="preprocessor">#define MSDIST_GP2YA02    0x34  </span><span class="comment">/*!&lt; Sharp IR module GP2YA02 */</span>
<a name="l00058"></a><a class="code" href="group__msdist.html#gaeea311f521348db82b058977609f9898">00058</a> <span class="preprocessor">#define MSDIST_CUSTOM     0x35  </span><span class="comment">/*!&lt; Custom IR module */</span>
<a name="l00059"></a>00059 
<a name="l00060"></a>00060 <span class="keywordtype">int</span> <a class="code" href="group__msdist.html#gaeeda2b56ad4d52d5b1193baf5bf88723">MSDISTreadDist</a>(tSensors link, ubyte address = <a class="code" href="group__msdist.html#gaa0acc67b016663695c6d56209744c2d4">MSDIST_I2C_ADDR</a>);
<a name="l00061"></a>00061 <span class="keywordtype">int</span> <a class="code" href="group__msdist.html#ga7219869563624f73f06664d7d2c87e14">MSDISTreadVoltage</a>(tSensors link, ubyte address = <a class="code" href="group__msdist.html#gaa0acc67b016663695c6d56209744c2d4">MSDIST_I2C_ADDR</a>);
<a name="l00062"></a>00062 <span class="keywordtype">int</span> <a class="code" href="group__msdist.html#ga3d87990cb848e2a6a98fdd9dc7aa15e0">MSDISTreadMinDist</a>(tSensors link, ubyte address = <a class="code" href="group__msdist.html#gaa0acc67b016663695c6d56209744c2d4">MSDIST_I2C_ADDR</a>);
<a name="l00063"></a>00063 <span class="keywordtype">int</span> <a class="code" href="group__msdist.html#gae96736e03c9eedc181771494dfbc9455">MSDISTreadMaxDist</a>(tSensors link, ubyte address = <a class="code" href="group__msdist.html#gaa0acc67b016663695c6d56209744c2d4">MSDIST_I2C_ADDR</a>);
<a name="l00064"></a>00064 <span class="keywordtype">int</span> <a class="code" href="group__msdist.html#gadfb19f55b0e87638753d5e3d894479c0">MSDISTreadModuleType</a>(tSensors link, ubyte address = <a class="code" href="group__msdist.html#gaa0acc67b016663695c6d56209744c2d4">MSDIST_I2C_ADDR</a>);
<a name="l00065"></a>00065 <span class="keywordtype">bool</span> <a class="code" href="group__msdist.html#ga7d6b020d134bc2b8e8dbc29cc4224465">MSDISTsendCmd</a>(tSensors link, byte command, ubyte address = <a class="code" href="group__msdist.html#gaa0acc67b016663695c6d56209744c2d4">MSDIST_I2C_ADDR</a>);
<a name="l00066"></a>00066 
<a name="l00067"></a><a class="code" href="group__msdist.html#ga81d5688a30879742237113da30095371">00067</a> <a class="code" href="group__common.html#gaa172ef131853460e5b9f5c6db81d30f4">tByteArray</a> <a class="code" href="group__msdist.html#ga81d5688a30879742237113da30095371">MSDIST_I2CRequest</a>;       <span class="comment">/*!&lt; Array to hold I2C command data */</span>
<a name="l00068"></a><a class="code" href="group__msdist.html#ga76307108433f2f05c07a9b18a9017f0e">00068</a> <a class="code" href="group__common.html#gaa172ef131853460e5b9f5c6db81d30f4">tByteArray</a> <a class="code" href="group__msdist.html#ga76307108433f2f05c07a9b18a9017f0e">MSDIST_I2CReply</a>;         <span class="comment">/*!&lt; Array to hold I2C reply data */</span>
<a name="l00069"></a>00069 
<a name="l00070"></a><a class="code" href="group__msdist.html#gae4948e6f2245f8cb510c2faadb99b094">00070</a> <span class="keywordtype">bool</span> <a class="code" href="group__msdist.html#gae4948e6f2245f8cb510c2faadb99b094">MSDISTcalibrated</a>[] = {<span class="keyword">false</span>, <span class="keyword">false</span>, <span class="keyword">false</span>, <span class="keyword">false</span>};  <span class="comment">/*!&lt; Has the sensor been calibrated yet? */</span>
<a name="l00071"></a>00071 <span class="comment"></span>
<a name="l00072"></a>00072 <span class="comment">/**</span>
<a name="l00073"></a>00073 <span class="comment"> * Read the distance from the sensor</span>
<a name="l00074"></a>00074 <span class="comment"> * @param link the sensor port number</span>
<a name="l00075"></a>00075 <span class="comment"> * @param address the I2C address to use, optional, defaults to 0x02</span>
<a name="l00076"></a>00076 <span class="comment"> * @return distance to object or -1 if an error occurred</span>
<a name="l00077"></a>00077 <span class="comment"> */</span>
<a name="l00078"></a><a class="code" href="group__msdist.html#gaeeda2b56ad4d52d5b1193baf5bf88723">00078</a> <span class="keywordtype">int</span> <a class="code" href="group__msdist.html#gaeeda2b56ad4d52d5b1193baf5bf88723">MSDISTreadDist</a>(tSensors link, ubyte address) {
<a name="l00079"></a>00079 
<a name="l00080"></a>00080   <span class="comment">// Configure the sensor</span>
<a name="l00081"></a>00081   <span class="keywordflow">if</span> (!<a class="code" href="group__msdist.html#gae4948e6f2245f8cb510c2faadb99b094">MSDISTcalibrated</a>[link]) {
<a name="l00082"></a>00082     <span class="keywordflow">if</span> (!<a class="code" href="group__msdist.html#ga7d6b020d134bc2b8e8dbc29cc4224465">MSDISTsendCmd</a>(link, <a class="code" href="group__msdist.html#gadfb19f55b0e87638753d5e3d894479c0">MSDISTreadModuleType</a>(link),address))
<a name="l00083"></a>00083     <span class="comment">// if (!MSDISTsendCmd(link, MSDISTreadModuleType(link)))</span>
<a name="l00084"></a>00084       <span class="keywordflow">return</span> -1;
<a name="l00085"></a>00085     <span class="keywordflow">else</span>
<a name="l00086"></a>00086       <a class="code" href="group__msdist.html#gae4948e6f2245f8cb510c2faadb99b094">MSDISTcalibrated</a>[link] = <span class="keyword">true</span>;
<a name="l00087"></a>00087   }
<a name="l00088"></a>00088 
<a name="l00089"></a>00089   memset(<a class="code" href="group__msdist.html#ga81d5688a30879742237113da30095371">MSDIST_I2CRequest</a>, 0, <span class="keyword">sizeof</span>(<a class="code" href="group__common.html#gaa172ef131853460e5b9f5c6db81d30f4">tByteArray</a>));
<a name="l00090"></a>00090 
<a name="l00091"></a>00091   <a class="code" href="group__msdist.html#ga81d5688a30879742237113da30095371">MSDIST_I2CRequest</a>[0] = 2;               <span class="comment">// Number of bytes in I2C command</span>
<a name="l00092"></a>00092   <a class="code" href="group__msdist.html#ga81d5688a30879742237113da30095371">MSDIST_I2CRequest</a>[1] = address;         <span class="comment">// I2C address of sensor</span>
<a name="l00093"></a>00093   <a class="code" href="group__msdist.html#ga81d5688a30879742237113da30095371">MSDIST_I2CRequest</a>[2] = <a class="code" href="group__msdist.html#gac19548612f6169b70100da2615087d5d">MSDIST_DIST</a>;     <span class="comment">// Set write address to sensor mode register</span>
<a name="l00094"></a>00094 
<a name="l00095"></a>00095   <span class="keywordflow">if</span> (!<a class="code" href="group__common.html#gad02e06f83b264ee6fc7df41eb4712080">writeI2C</a>(link, <a class="code" href="group__msdist.html#ga81d5688a30879742237113da30095371">MSDIST_I2CRequest</a>, <a class="code" href="group__msdist.html#ga76307108433f2f05c07a9b18a9017f0e">MSDIST_I2CReply</a>, 2))
<a name="l00096"></a>00096     <span class="keywordflow">return</span> -1;
<a name="l00097"></a>00097 
<a name="l00098"></a>00098   <span class="keywordflow">return</span> (0x00FF &amp; <a class="code" href="group__msdist.html#ga76307108433f2f05c07a9b18a9017f0e">MSDIST_I2CReply</a>[0]) + ((0x00FF &amp; MSDIST_I2CReply[1]) &lt;&lt;8);
<a name="l00099"></a>00099 }
<a name="l00100"></a>00100 
<a name="l00101"></a>00101 <span class="comment"></span>
<a name="l00102"></a>00102 <span class="comment">/**</span>
<a name="l00103"></a>00103 <span class="comment"> * Read tilt data from the sensor</span>
<a name="l00104"></a>00104 <span class="comment"> * @param link the sensor port number</span>
<a name="l00105"></a>00105 <span class="comment"> * @param address the I2C address to use, optional, defaults to 0x02</span>
<a name="l00106"></a>00106 <span class="comment"> * @return voltage reading from IR Sensor -1 if an error occurred</span>
<a name="l00107"></a>00107 <span class="comment"> */</span>
<a name="l00108"></a><a class="code" href="group__msdist.html#ga7219869563624f73f06664d7d2c87e14">00108</a> <span class="keywordtype">int</span> <a class="code" href="group__msdist.html#ga7219869563624f73f06664d7d2c87e14">MSDISTreadVoltage</a>(tSensors link, ubyte address) {
<a name="l00109"></a>00109   memset(<a class="code" href="group__msdist.html#ga81d5688a30879742237113da30095371">MSDIST_I2CRequest</a>, 0, <span class="keyword">sizeof</span>(<a class="code" href="group__common.html#gaa172ef131853460e5b9f5c6db81d30f4">tByteArray</a>));
<a name="l00110"></a>00110 
<a name="l00111"></a>00111   <a class="code" href="group__msdist.html#ga81d5688a30879742237113da30095371">MSDIST_I2CRequest</a>[0] = 2;               <span class="comment">// Number of bytes in I2C command</span>
<a name="l00112"></a>00112   <a class="code" href="group__msdist.html#ga81d5688a30879742237113da30095371">MSDIST_I2CRequest</a>[1] = address;         <span class="comment">// I2C address of sensor</span>
<a name="l00113"></a>00113   <a class="code" href="group__msdist.html#ga81d5688a30879742237113da30095371">MSDIST_I2CRequest</a>[2] = <a class="code" href="group__msdist.html#ga27dc507c301c1c400b35edf6bdb8872e">MSDIST_VOLT</a>;     <span class="comment">// Set write address to sensor mode register</span>
<a name="l00114"></a>00114 
<a name="l00115"></a>00115   <span class="keywordflow">if</span> (!<a class="code" href="group__common.html#gad02e06f83b264ee6fc7df41eb4712080">writeI2C</a>(link, <a class="code" href="group__msdist.html#ga81d5688a30879742237113da30095371">MSDIST_I2CRequest</a>, <a class="code" href="group__msdist.html#ga76307108433f2f05c07a9b18a9017f0e">MSDIST_I2CReply</a>, 2))
<a name="l00116"></a>00116     <span class="keywordflow">return</span> -1;
<a name="l00117"></a>00117 
<a name="l00118"></a>00118   <span class="comment">// Each result is made up of two bytes.</span>
<a name="l00119"></a>00119   <span class="keywordflow">return</span> (0x00FF &amp; <a class="code" href="group__msdist.html#ga76307108433f2f05c07a9b18a9017f0e">MSDIST_I2CReply</a>[0]) + ((0x00FF &amp; MSDIST_I2CReply[1]) &lt;&lt;8);
<a name="l00120"></a>00120 }
<a name="l00121"></a>00121 
<a name="l00122"></a>00122 <span class="comment"></span>
<a name="l00123"></a>00123 <span class="comment">/**</span>
<a name="l00124"></a>00124 <span class="comment"> * Read minumum measuring distance from the sensor</span>
<a name="l00125"></a>00125 <span class="comment"> * @param link the sensor port number</span>
<a name="l00126"></a>00126 <span class="comment"> * @param address the I2C address to use, optional, defaults to 0x02</span>
<a name="l00127"></a>00127 <span class="comment"> * @return minumum measuring distance from the sensor -1 if an error occurred</span>
<a name="l00128"></a>00128 <span class="comment"> */</span>
<a name="l00129"></a><a class="code" href="group__msdist.html#ga3d87990cb848e2a6a98fdd9dc7aa15e0">00129</a> <span class="keywordtype">int</span> <a class="code" href="group__msdist.html#ga3d87990cb848e2a6a98fdd9dc7aa15e0">MSDISTreadMinDist</a>(tSensors link, ubyte address) {
<a name="l00130"></a>00130   memset(<a class="code" href="group__msdist.html#ga81d5688a30879742237113da30095371">MSDIST_I2CRequest</a>, 0, <span class="keyword">sizeof</span>(<a class="code" href="group__common.html#gaa172ef131853460e5b9f5c6db81d30f4">tByteArray</a>));
<a name="l00131"></a>00131 
<a name="l00132"></a>00132   <a class="code" href="group__msdist.html#ga81d5688a30879742237113da30095371">MSDIST_I2CRequest</a>[0] = 2;               <span class="comment">// Number of bytes in I2C command</span>
<a name="l00133"></a>00133   <a class="code" href="group__msdist.html#ga81d5688a30879742237113da30095371">MSDIST_I2CRequest</a>[1] = address;         <span class="comment">// I2C address of sensor</span>
<a name="l00134"></a>00134   <a class="code" href="group__msdist.html#ga81d5688a30879742237113da30095371">MSDIST_I2CRequest</a>[2] = <a class="code" href="group__msdist.html#ga767d8fd4072d1be7c2043af0f5199d1c">MSDIST_MINDIST</a>;  <span class="comment">// Set write address to sensor mode register</span>
<a name="l00135"></a>00135 
<a name="l00136"></a>00136   <span class="keywordflow">if</span> (!<a class="code" href="group__common.html#gad02e06f83b264ee6fc7df41eb4712080">writeI2C</a>(link, <a class="code" href="group__msdist.html#ga81d5688a30879742237113da30095371">MSDIST_I2CRequest</a>, <a class="code" href="group__msdist.html#ga76307108433f2f05c07a9b18a9017f0e">MSDIST_I2CReply</a>, 2))
<a name="l00137"></a>00137     <span class="keywordflow">return</span> -1;
<a name="l00138"></a>00138 
<a name="l00139"></a>00139   <span class="comment">// Each result is made up of two bytes.</span>
<a name="l00140"></a>00140   <span class="keywordflow">return</span> (0x00FF &amp; <a class="code" href="group__msdist.html#ga76307108433f2f05c07a9b18a9017f0e">MSDIST_I2CReply</a>[0]) + ((0x00FF &amp; MSDIST_I2CReply[1]) &lt;&lt;8);
<a name="l00141"></a>00141 }
<a name="l00142"></a>00142 
<a name="l00143"></a>00143 <span class="comment"></span>
<a name="l00144"></a>00144 <span class="comment">/**</span>
<a name="l00145"></a>00145 <span class="comment"> * Read maximum measuring distance from the sensor</span>
<a name="l00146"></a>00146 <span class="comment"> * @param link the sensor port number</span>
<a name="l00147"></a>00147 <span class="comment"> * @param address the I2C address to use, optional, defaults to 0x02</span>
<a name="l00148"></a>00148 <span class="comment"> * @return maximum measuring distance from the sensor -1 if an error occurred</span>
<a name="l00149"></a>00149 <span class="comment"> */</span>
<a name="l00150"></a><a class="code" href="group__msdist.html#gae96736e03c9eedc181771494dfbc9455">00150</a> <span class="keywordtype">int</span> <a class="code" href="group__msdist.html#gae96736e03c9eedc181771494dfbc9455">MSDISTreadMaxDist</a>(tSensors link, ubyte address) {
<a name="l00151"></a>00151   memset(<a class="code" href="group__msdist.html#ga81d5688a30879742237113da30095371">MSDIST_I2CRequest</a>, 0, <span class="keyword">sizeof</span>(<a class="code" href="group__common.html#gaa172ef131853460e5b9f5c6db81d30f4">tByteArray</a>));
<a name="l00152"></a>00152 
<a name="l00153"></a>00153   <a class="code" href="group__msdist.html#ga81d5688a30879742237113da30095371">MSDIST_I2CRequest</a>[0] = 2;               <span class="comment">// Number of bytes in I2C command</span>
<a name="l00154"></a>00154   <a class="code" href="group__msdist.html#ga81d5688a30879742237113da30095371">MSDIST_I2CRequest</a>[1] = address;         <span class="comment">// I2C address of sensor</span>
<a name="l00155"></a>00155   <a class="code" href="group__msdist.html#ga81d5688a30879742237113da30095371">MSDIST_I2CRequest</a>[2] = <a class="code" href="group__msdist.html#ga325dab7fc0bd0c065d41941eea2e5e28">MSDIST_MAXDIST</a>;     <span class="comment">// Set write address to sensor mode register</span>
<a name="l00156"></a>00156 
<a name="l00157"></a>00157   <span class="keywordflow">if</span> (!<a class="code" href="group__common.html#gad02e06f83b264ee6fc7df41eb4712080">writeI2C</a>(link, <a class="code" href="group__msdist.html#ga81d5688a30879742237113da30095371">MSDIST_I2CRequest</a>, <a class="code" href="group__msdist.html#ga76307108433f2f05c07a9b18a9017f0e">MSDIST_I2CReply</a>, 2))
<a name="l00158"></a>00158     <span class="keywordflow">return</span> -1;
<a name="l00159"></a>00159 
<a name="l00160"></a>00160   <span class="comment">// Each result is made up of two bytes.</span>
<a name="l00161"></a>00161   <span class="keywordflow">return</span> (0x00FF &amp; <a class="code" href="group__msdist.html#ga76307108433f2f05c07a9b18a9017f0e">MSDIST_I2CReply</a>[0]) + ((0x00FF &amp; MSDIST_I2CReply[1]) &lt;&lt;8);
<a name="l00162"></a>00162 }
<a name="l00163"></a>00163 
<a name="l00164"></a>00164 <span class="comment"></span>
<a name="l00165"></a>00165 <span class="comment">/**</span>
<a name="l00166"></a>00166 <span class="comment"> * Read Sharp IR module type from the sensor</span>
<a name="l00167"></a>00167 <span class="comment"> * @param link the sensor port number</span>
<a name="l00168"></a>00168 <span class="comment"> * @param address the I2C address to use, optional, defaults to 0x02</span>
<a name="l00169"></a>00169 <span class="comment"> * @return Sharp IR module type from the sensor -1 if an error occurred</span>
<a name="l00170"></a>00170 <span class="comment"> */</span>
<a name="l00171"></a><a class="code" href="group__msdist.html#gadfb19f55b0e87638753d5e3d894479c0">00171</a> <span class="keywordtype">int</span> <a class="code" href="group__msdist.html#gadfb19f55b0e87638753d5e3d894479c0">MSDISTreadModuleType</a>(tSensors link, ubyte address) {
<a name="l00172"></a>00172   memset(<a class="code" href="group__msdist.html#ga81d5688a30879742237113da30095371">MSDIST_I2CRequest</a>, 0, <span class="keyword">sizeof</span>(<a class="code" href="group__common.html#gaa172ef131853460e5b9f5c6db81d30f4">tByteArray</a>));
<a name="l00173"></a>00173 
<a name="l00174"></a>00174   <a class="code" href="group__msdist.html#ga81d5688a30879742237113da30095371">MSDIST_I2CRequest</a>[0] = 2;               <span class="comment">// Number of bytes in I2C command</span>
<a name="l00175"></a>00175   <a class="code" href="group__msdist.html#ga81d5688a30879742237113da30095371">MSDIST_I2CRequest</a>[1] = address;         <span class="comment">// I2C address of sensor</span>
<a name="l00176"></a>00176   <a class="code" href="group__msdist.html#ga81d5688a30879742237113da30095371">MSDIST_I2CRequest</a>[2] = <a class="code" href="group__msdist.html#ga68127178ad2bdd4cca035a30cd06cb65">MSDIST_MOD_TYPE</a>; <span class="comment">// Set write address to sensor mode register</span>
<a name="l00177"></a>00177 
<a name="l00178"></a>00178   <span class="keywordflow">if</span> (!<a class="code" href="group__common.html#gad02e06f83b264ee6fc7df41eb4712080">writeI2C</a>(link, <a class="code" href="group__msdist.html#ga81d5688a30879742237113da30095371">MSDIST_I2CRequest</a>, <a class="code" href="group__msdist.html#ga76307108433f2f05c07a9b18a9017f0e">MSDIST_I2CReply</a>, 1))
<a name="l00179"></a>00179     <span class="keywordflow">return</span> -1;
<a name="l00180"></a>00180 
<a name="l00181"></a>00181   <span class="keywordflow">return</span> 0x00FF &amp; <a class="code" href="group__msdist.html#ga76307108433f2f05c07a9b18a9017f0e">MSDIST_I2CReply</a>[0];
<a name="l00182"></a>00182 }
<a name="l00183"></a>00183 
<a name="l00184"></a>00184 <span class="comment"></span>
<a name="l00185"></a>00185 <span class="comment">/**</span>
<a name="l00186"></a>00186 <span class="comment"> * Send a command to the sensor</span>
<a name="l00187"></a>00187 <span class="comment"> * @param link the sensor port number</span>
<a name="l00188"></a>00188 <span class="comment"> * @param command the command to be sent</span>
<a name="l00189"></a>00189 <span class="comment"> * @param address the I2C address to use, optional, defaults to 0x02</span>
<a name="l00190"></a>00190 <span class="comment"> * @return true if no error occured, false if it did</span>
<a name="l00191"></a>00191 <span class="comment"> */</span>
<a name="l00192"></a><a class="code" href="group__msdist.html#ga7d6b020d134bc2b8e8dbc29cc4224465">00192</a> <span class="keywordtype">bool</span> <a class="code" href="group__msdist.html#ga7d6b020d134bc2b8e8dbc29cc4224465">MSDISTsendCmd</a>(tSensors link, byte command, ubyte address) {
<a name="l00193"></a>00193   memset(<a class="code" href="group__msdist.html#ga81d5688a30879742237113da30095371">MSDIST_I2CRequest</a>, 0, <span class="keyword">sizeof</span>(<a class="code" href="group__common.html#gaa172ef131853460e5b9f5c6db81d30f4">tByteArray</a>));
<a name="l00194"></a>00194 
<a name="l00195"></a>00195   <a class="code" href="group__msdist.html#ga81d5688a30879742237113da30095371">MSDIST_I2CRequest</a>[0] = 3;               <span class="comment">// Number of bytes in I2C command</span>
<a name="l00196"></a>00196   <a class="code" href="group__msdist.html#ga81d5688a30879742237113da30095371">MSDIST_I2CRequest</a>[1] = address;         <span class="comment">// I2C address of sensor</span>
<a name="l00197"></a>00197   <a class="code" href="group__msdist.html#ga81d5688a30879742237113da30095371">MSDIST_I2CRequest</a>[2] = <a class="code" href="group__msdist.html#gaab74285be52c673f8a64b257243b58b7">MSDIST_CMD</a>;      <span class="comment">// Set write address to sensor mode register</span>
<a name="l00198"></a>00198   <a class="code" href="group__msdist.html#ga81d5688a30879742237113da30095371">MSDIST_I2CRequest</a>[3] = command;         <span class="comment">// Command to be sent to the sensor</span>
<a name="l00199"></a>00199 
<a name="l00200"></a>00200   <span class="keywordflow">return</span> <a class="code" href="group__common.html#gad02e06f83b264ee6fc7df41eb4712080">writeI2C</a>(link, <a class="code" href="group__msdist.html#ga81d5688a30879742237113da30095371">MSDIST_I2CRequest</a>);
<a name="l00201"></a>00201 }
<a name="l00202"></a>00202 
<a name="l00203"></a>00203 
<a name="l00204"></a>00204 <span class="preprocessor">#endif //__MSDIST_H__</span>
<a name="l00205"></a>00205 <span class="preprocessor"></span>
<a name="l00206"></a>00206 <span class="comment">/*</span>
<a name="l00207"></a>00207 <span class="comment"> * $Id: mindsensors-irdist.h 133 2013-03-10 15:15:38Z xander $</span>
<a name="l00208"></a>00208 <span class="comment"> */</span>
<a name="l00209"></a>00209 <span class="comment">/* @} */</span>
<a name="l00210"></a>00210 <span class="comment">/* @} */</span>
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